Paper Info
Title
Development Of A Variable-Stiffness And Shape-Detection Manipulator Based On Low-Melting-Point-Alloy For Minimally Invasive Surgery
Abstract
There is an increasingly popularity for the continuum robot in minimally invasive surgery(MIS), because of the compliance and dexterity. In the first place, a variable stiffness manipulator can resolve the two contradictions of the demands for predominant flexibility and strong payload capacity. In the second place, to control the continuum robot more precisely and avoid the collision between robot and human body, real-time tracking of the shape of the continuum robot is of great significance. A new type of flexible manipulator with variable stiffness is proposed which can track the bending shape timely. The low-melting-point-alloy (LMPA) is used to realize the variable stiffness and shape detection for the flexible manipulator. The concept design for a single module is put forward. Then the stiffness control method and finite element simulation, the method of shape detection are presented. Moreover, the presented method of shape detection is evaluated by experiments.
Year
DOI
Venue
2020
10.1109/EMBC44109.2020.9176466
42ND ANNUAL INTERNATIONAL CONFERENCES OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY: ENABLING INNOVATIVE TECHNOLOGIES FOR GLOBAL HEALTHCARE EMBC'20
DocType
Volume
ISSN
Conference
2020
1557-170X
Citations 
PageRank 
References 
0
0.34
0
Authors
7
Name
Order
Citations
PageRank
Xiaoyong Wei101.01
Feng Ju255.47
Bai Chen363.14
Hao Guo400.34
F. Qi5113.49
Dongming Bai600.34
Yadong Ding700.34